From b6c1c5ec8768eae71f3492a4e5c92cac65cee5a1 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 28 Aug 2016 10:39:40 +0200 Subject: tracker/rs: connect rs_impl to build Pinging @ph0b. --- tracker-rs/rs_impl/CMakeLists.txt | 6 + tracker-rs/rs_impl/attic/bin/amd64/.gitignore | 2 + tracker-rs/rs_impl/attic/bin/ia32/.gitignore | 2 + tracker-rs/rs_impl/attic/build.bat | 29 +++ tracker-rs/rs_impl/attic/build_common.bat | 21 ++ tracker-rs/rs_impl/attic/udp_sender.cpp | 53 +++++ tracker-rs/rs_impl/bin/amd64/.gitignore | 2 - tracker-rs/rs_impl/bin/amd64/rs-impl.lib | Bin 19184 -> 0 bytes tracker-rs/rs_impl/bin/ia32/.gitignore | 2 - tracker-rs/rs_impl/bin/ia32/rs-impl.lib | Bin 12906 -> 0 bytes tracker-rs/rs_impl/build.bat | 2 - tracker-rs/rs_impl/build_common.bat | 11 - tracker-rs/rs_impl/build_wrapped.bat | 21 -- tracker-rs/rs_impl/ftnoir_tracker_rs_impl.cpp | 317 +++++++++++++------------- tracker-rs/rs_impl/udp_sender.cpp | 53 ----- 15 files changed, 271 insertions(+), 250 deletions(-) create mode 100644 tracker-rs/rs_impl/CMakeLists.txt create mode 100644 tracker-rs/rs_impl/attic/bin/amd64/.gitignore create mode 100644 tracker-rs/rs_impl/attic/bin/ia32/.gitignore create mode 100644 tracker-rs/rs_impl/attic/build.bat create mode 100644 tracker-rs/rs_impl/attic/build_common.bat create mode 100644 tracker-rs/rs_impl/attic/udp_sender.cpp delete mode 100644 tracker-rs/rs_impl/bin/amd64/.gitignore delete mode 100644 tracker-rs/rs_impl/bin/amd64/rs-impl.lib delete mode 100644 tracker-rs/rs_impl/bin/ia32/.gitignore delete mode 100644 tracker-rs/rs_impl/bin/ia32/rs-impl.lib delete mode 100644 tracker-rs/rs_impl/build.bat delete mode 100644 tracker-rs/rs_impl/build_common.bat delete mode 100644 tracker-rs/rs_impl/build_wrapped.bat delete mode 100644 tracker-rs/rs_impl/udp_sender.cpp (limited to 'tracker-rs/rs_impl') diff --git a/tracker-rs/rs_impl/CMakeLists.txt b/tracker-rs/rs_impl/CMakeLists.txt new file mode 100644 index 00000000..10a71537 --- /dev/null +++ b/tracker-rs/rs_impl/CMakeLists.txt @@ -0,0 +1,6 @@ +if(WIN32) + opentrack_boilerplate(opentrack-tracker-rs-impl STATIC NO-QT SOURCES "${SDK_REALSENSE}/opensource/src/libpxc/libpxc.cpp") + target_compile_definitions(opentrack-tracker-rs-impl PRIVATE -DUNICODE -D_UNICODE -DEXPORT_RS_IMPL) + target_include_directories(opentrack-tracker-rs-impl PRIVATE SYSTEM "${SDK_REALSENSE}/include") + target_link_libraries(opentrack-tracker-rs-impl advapi32) +endif() diff --git a/tracker-rs/rs_impl/attic/bin/amd64/.gitignore b/tracker-rs/rs_impl/attic/bin/amd64/.gitignore new file mode 100644 index 00000000..59314700 --- /dev/null +++ b/tracker-rs/rs_impl/attic/bin/amd64/.gitignore @@ -0,0 +1,2 @@ +/*.exp +/*.obj diff --git a/tracker-rs/rs_impl/attic/bin/ia32/.gitignore b/tracker-rs/rs_impl/attic/bin/ia32/.gitignore new file mode 100644 index 00000000..59314700 --- /dev/null +++ b/tracker-rs/rs_impl/attic/bin/ia32/.gitignore @@ -0,0 +1,2 @@ +/*.exp +/*.obj diff --git a/tracker-rs/rs_impl/attic/build.bat b/tracker-rs/rs_impl/attic/build.bat new file mode 100644 index 00000000..3d5e8bc0 --- /dev/null +++ b/tracker-rs/rs_impl/attic/build.bat @@ -0,0 +1,29 @@ +@echo off + +setlocal + +IF DEFINED VS150COMNTOOLS ( + if exist "%VS150COMNTOOLS%\..\..\VC\vcvarsall.bat" ( + set vs_dir="%VS150COMNTOOLS%\..\..\VC" + set vs_64=amd64 + ) else ( + rem it installed vcvarsall.bat here for me for some reason -sh 20160827 + set vs_dir="%VS150COMNTOOLS%\..\ide\vc" + set vs_64=amd64 + )) else ( + set vs_dir="%VS140COMNTOOLS%\..\..\VC" + set vs_64=amd64 + ) + +cd /d "%~dp0" +if %errorlevel% neq 0 exit /b 1 + +set rs_objs=ftnoir_tracker_rs_impl.obj libpxc.obj + +set rs_subdir=ia32&set vs_var=x86 +call ".\build_common.bat" || exit /b 1 + +set rs_subdir=amd64&set vs_var=%vs_64% +call ".\build_common.bat" || exit /b 1 + +exit /b 0 diff --git a/tracker-rs/rs_impl/attic/build_common.bat b/tracker-rs/rs_impl/attic/build_common.bat new file mode 100644 index 00000000..c37e0ae8 --- /dev/null +++ b/tracker-rs/rs_impl/attic/build_common.bat @@ -0,0 +1,21 @@ +@echo off + +setlocal + +cd /d .\bin\%rs_subdir% || exit 1 + +echo --- %rs_subdir% + +set rice_ld=/OPT:REF /OPT:ICF=10 /DEBUG /DYNAMICBASE /NXCOMPAT /LTCG +set rice_lib= +set rice_cc=/Ox /arch:SSE2 /EHscr /fp:fast /GS- /GF /GR- /Gy /MT /Y- /Zi /W1 /GL /Zi +set libs=advapi32.lib + +if not exist %vs_dir%\vcvarsall.bat exit /b 1 +call %vs_dir%\vcvarsall %vs_var% || exit /b 1 +if ["%libpath%"] == [""] exit /b 1 + +cl /c /nologo -DEXPORT_RS_IMPL -DUNICODE -D_UNICODE -MT %rice_cc% /I "%RSSDK_DIR%\opensource\include" ..\..\ftnoir_tracker_rs_impl.cpp "%RSSDK_DIR%\opensource\src\libpxc\libpxc.cpp" || exit /b 1 +lib /nologo %rice_lib% %rs_objs% %libs% /OUT:rs-impl.lib || exit /b 1 + +exit /b 0 diff --git a/tracker-rs/rs_impl/attic/udp_sender.cpp b/tracker-rs/rs_impl/attic/udp_sender.cpp new file mode 100644 index 00000000..095edd8f --- /dev/null +++ b/tracker-rs/rs_impl/attic/udp_sender.cpp @@ -0,0 +1,53 @@ +/* + * Copyright (c) 2015, Intel Corporation + * Author: Xavier Hallade + * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies. + * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. + */ + +#include "ftnoir_tracker_rs_impl.h" +#include +#include +#include +#include + +#define UDP_PORT 4242 + +int main(){ + double pose[6] = { 0., 0., 0., 0., 0., 0. }; + struct sockaddr_in socketInfo; + SOCKET s = 0; + WSADATA wsa; + + int retStatus = rs_tracker_impl_start(); + if (retStatus != 0){ + exit(retStatus); + } + + if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) //init winsocketapi + exit(EXIT_FAILURE); + + memset(&socketInfo, 0, sizeof(socketInfo)); + socketInfo.sin_family = AF_INET; + socketInfo.sin_port = htons(UDP_PORT); + InetPton(AF_INET, L"127.0.0.1", &socketInfo.sin_addr.S_un.S_addr); + + if ((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == SOCKET_ERROR) //create UDP socket + exit(EXIT_FAILURE); + + for(;;) { + retStatus = rs_tracker_impl_update_pose(pose); + if(retStatus == 0){ //no error + if (sendto(s, (char*)&pose, sizeof(pose), 0, (struct sockaddr *) &socketInfo, sizeof(socketInfo)) == SOCKET_ERROR) //send new data + exit(EXIT_FAILURE); + } + + if(retStatus != 0 && retStatus != -303)// -303=timeout and 0 are ok, else we've got to stop. + break; + } + + closesocket(s); + WSACleanup(); + + return retStatus; +} diff --git a/tracker-rs/rs_impl/bin/amd64/.gitignore b/tracker-rs/rs_impl/bin/amd64/.gitignore deleted file mode 100644 index 59314700..00000000 --- a/tracker-rs/rs_impl/bin/amd64/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -/*.exp -/*.obj diff --git a/tracker-rs/rs_impl/bin/amd64/rs-impl.lib b/tracker-rs/rs_impl/bin/amd64/rs-impl.lib deleted file mode 100644 index 755e4dfb..00000000 Binary files a/tracker-rs/rs_impl/bin/amd64/rs-impl.lib and /dev/null differ diff --git a/tracker-rs/rs_impl/bin/ia32/.gitignore b/tracker-rs/rs_impl/bin/ia32/.gitignore deleted file mode 100644 index 59314700..00000000 --- a/tracker-rs/rs_impl/bin/ia32/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -/*.exp -/*.obj diff --git a/tracker-rs/rs_impl/bin/ia32/rs-impl.lib b/tracker-rs/rs_impl/bin/ia32/rs-impl.lib deleted file mode 100644 index ce074cf6..00000000 Binary files a/tracker-rs/rs_impl/bin/ia32/rs-impl.lib and /dev/null differ diff --git a/tracker-rs/rs_impl/build.bat b/tracker-rs/rs_impl/build.bat deleted file mode 100644 index 612b1371..00000000 --- a/tracker-rs/rs_impl/build.bat +++ /dev/null @@ -1,2 +0,0 @@ -@cmd /c "%~dp0\build_wrapped.bat" -@pause \ No newline at end of file diff --git a/tracker-rs/rs_impl/build_common.bat b/tracker-rs/rs_impl/build_common.bat deleted file mode 100644 index 580cb4d8..00000000 --- a/tracker-rs/rs_impl/build_common.bat +++ /dev/null @@ -1,11 +0,0 @@ -@echo off - -cd /d .\bin\%rs_subdir% -if %errorlevel% neq 0 exit 1 - -echo --- %rs_subdir% - -call %vs_dir%\vcvarsall %vs_var% && CL /c /GS- /nologo /Ox /DUNICODE /D_UNICODE /MT /I "%RSSDK_DIR%\opensource\include" ..\..\ftnoir_tracker_rs_impl.cpp "%RSSDK_DIR%\opensource\src\libpxc\libpxc.cpp" && lib /NOLOGO %rs_objs% /OUT:rs-impl.lib - -if %errorlevel% neq 0 exit 1 -exit 0 diff --git a/tracker-rs/rs_impl/build_wrapped.bat b/tracker-rs/rs_impl/build_wrapped.bat deleted file mode 100644 index 1e65ef12..00000000 --- a/tracker-rs/rs_impl/build_wrapped.bat +++ /dev/null @@ -1,21 +0,0 @@ -@echo off - -IF DEFINED VS150COMNTOOLS ( - set vs_dir="%VS150COMNTOOLS%\..\..\VC" - set vs_64=x86_amd64 - ) ELSE ( - set vs_dir="%VS140COMNTOOLS%\..\..\VC" - set vs_64=amd64 - ) - - -cd /d "%~dp0" -if %errorlevel% neq 0 exit 1 - -set rs_objs=ftnoir_tracker_rs_impl.obj libpxc.obj - -set rs_subdir=ia32&set vs_var=x86 -cmd /c "call .\build_common.bat" - -set rs_subdir=amd64&set vs_var=%vs_64% -cmd /c "call .\build_common.bat" diff --git a/tracker-rs/rs_impl/ftnoir_tracker_rs_impl.cpp b/tracker-rs/rs_impl/ftnoir_tracker_rs_impl.cpp index c371e30a..6b3c5351 100644 --- a/tracker-rs/rs_impl/ftnoir_tracker_rs_impl.cpp +++ b/tracker-rs/rs_impl/ftnoir_tracker_rs_impl.cpp @@ -4,7 +4,6 @@ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies. * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */ - #include "ftnoir_tracker_rs_impl.h" #include #include @@ -21,201 +20,201 @@ void* g_previewImage = NULL; CRITICAL_SECTION g_criticalSection; pxcStatus set_face_module_configuration(PXCFaceModule *faceModule) { - pxcStatus retStatus = PXC_STATUS_NO_ERROR; - PXCFaceConfiguration *faceConfig = NULL; - - if (faceModule == NULL) { - return PXC_STATUS_HANDLE_INVALID; - } - - faceConfig = faceModule->CreateActiveConfiguration(); - if (faceConfig == NULL) { - return PXC_STATUS_HANDLE_INVALID; - } - - faceConfig->pose.isEnabled = true; - faceConfig->pose.maxTrackedFaces = 1; - faceConfig->pose.smoothingLevel = PXCFaceConfiguration::SmoothingLevelType::SMOOTHING_DISABLED; - faceConfig->strategy = PXCFaceConfiguration::STRATEGY_CLOSEST_TO_FARTHEST; - faceConfig->detection.isEnabled = false; - faceConfig->landmarks.isEnabled = false; - faceConfig->DisableAllAlerts(); - faceConfig->SetTrackingMode(PXCFaceConfiguration::FACE_MODE_COLOR_PLUS_DEPTH); - - retStatus = faceConfig->ApplyChanges(); - - faceConfig->Release(); - return retStatus; + pxcStatus retStatus = PXC_STATUS_NO_ERROR; + PXCFaceConfiguration *faceConfig = NULL; + + if (faceModule == NULL) { + return PXC_STATUS_HANDLE_INVALID; + } + + faceConfig = faceModule->CreateActiveConfiguration(); + if (faceConfig == NULL) { + return PXC_STATUS_HANDLE_INVALID; + } + + faceConfig->pose.isEnabled = true; + faceConfig->pose.maxTrackedFaces = 1; + faceConfig->pose.smoothingLevel = PXCFaceConfiguration::SmoothingLevelType::SMOOTHING_DISABLED; + faceConfig->strategy = PXCFaceConfiguration::STRATEGY_CLOSEST_TO_FARTHEST; + faceConfig->detection.isEnabled = false; + faceConfig->landmarks.isEnabled = false; + faceConfig->DisableAllAlerts(); + faceConfig->SetTrackingMode(PXCFaceConfiguration::FACE_MODE_COLOR_PLUS_DEPTH); + + retStatus = faceConfig->ApplyChanges(); + + faceConfig->Release(); + return retStatus; } pxcStatus retrieve_preview_from_frame() { - pxcStatus retStatus = PXC_STATUS_NO_ERROR; - PXCCapture::Sample* sample = NULL; - PXCImage::ImageInfo info; - PXCImage::ImageData depthData; + pxcStatus retStatus = PXC_STATUS_NO_ERROR; + PXCCapture::Sample* sample = NULL; + PXCImage::ImageInfo info; + PXCImage::ImageData depthData; - if (g_senseManager == NULL) { - return PXC_STATUS_HANDLE_INVALID; - } + if (g_senseManager == NULL) { + return PXC_STATUS_HANDLE_INVALID; + } - sample = g_senseManager->QuerySample(); - if (sample == NULL || sample->depth == NULL) { - return PXC_STATUS_DATA_UNAVAILABLE; - } + sample = g_senseManager->QuerySample(); + if (sample == NULL || sample->depth == NULL) { + return PXC_STATUS_DATA_UNAVAILABLE; + } - info = sample->depth->QueryInfo(); - if (info.width > kPreviewStreamWidth || info.height > kPreviewStreamHeight) { - return PXC_STATUS_PARAM_UNSUPPORTED; - } + info = sample->depth->QueryInfo(); + if (info.width > kPreviewStreamWidth || info.height > kPreviewStreamHeight) { + return PXC_STATUS_PARAM_UNSUPPORTED; + } - retStatus = sample->depth->AcquireAccess(PXCImage::Access::ACCESS_READ, PXCImage::PIXEL_FORMAT_RGB32, &depthData); - if (retStatus == PXC_STATUS_NO_ERROR) { - EnterCriticalSection(&g_criticalSection); + retStatus = sample->depth->AcquireAccess(PXCImage::Access::ACCESS_READ, PXCImage::PIXEL_FORMAT_RGB32, &depthData); + if (retStatus == PXC_STATUS_NO_ERROR) { + EnterCriticalSection(&g_criticalSection); - for (int i = 0; i < info.height; ++i) - for (int j = 0; j < info.width; ++j) - ((unsigned char*)g_previewImage)[i*info.width + j] = ((unsigned char*)depthData.planes[0])[(i + 1) * 4 * info.width - 4 * (j + 1)]; //mirror and convert from RGB32 to Y8. + for (int i = 0; i < info.height; ++i) + for (int j = 0; j < info.width; ++j) + ((unsigned char*)g_previewImage)[i*info.width + j] = ((unsigned char*)depthData.planes[0])[(i + 1) * 4 * info.width - 4 * (j + 1)]; //mirror and convert from RGB32 to Y8. - LeaveCriticalSection(&g_criticalSection); + LeaveCriticalSection(&g_criticalSection); - sample->depth->ReleaseAccess(&depthData); - } + sample->depth->ReleaseAccess(&depthData); + } - return retStatus; + return retStatus; } int rs_tracker_impl_start() { - pxcStatus retStatus = PXC_STATUS_NO_ERROR; - PXCFaceModule *faceModule = NULL; - - InitializeCriticalSection(&g_criticalSection); - g_previewImage = malloc(kPreviewStreamWidth*kPreviewStreamHeight); - memset(g_previewImage, 0, kPreviewStreamWidth*kPreviewStreamHeight); - - g_senseManager = PXCSenseManager::CreateInstance(); - if (g_senseManager == NULL) { - rs_tracker_impl_end(); - return PXC_STATUS_HANDLE_INVALID; - } - - retStatus = g_senseManager->EnableFace(); - if (retStatus != PXC_STATUS_NO_ERROR) { - rs_tracker_impl_end(); - return retStatus; - } - - faceModule = g_senseManager->QueryFace(); - if (faceModule == NULL) { - rs_tracker_impl_end(); - return PXC_STATUS_HANDLE_INVALID; - } - - retStatus = set_face_module_configuration(faceModule); - if (retStatus != PXC_STATUS_NO_ERROR) { - rs_tracker_impl_end(); - return retStatus; - } - - retStatus = g_senseManager->Init(); - if (retStatus != PXC_STATUS_NO_ERROR) { - rs_tracker_impl_end(); - return retStatus; - } - - g_faceData = faceModule->CreateOutput(); - if (g_faceData == NULL) { - rs_tracker_impl_end(); - return PXC_STATUS_HANDLE_INVALID; - } - - return retStatus; + pxcStatus retStatus = PXC_STATUS_NO_ERROR; + PXCFaceModule *faceModule = NULL; + + InitializeCriticalSection(&g_criticalSection); + g_previewImage = malloc(kPreviewStreamWidth*kPreviewStreamHeight); + memset(g_previewImage, 0, kPreviewStreamWidth*kPreviewStreamHeight); + + g_senseManager = PXCSenseManager::CreateInstance(); + if (g_senseManager == NULL) { + rs_tracker_impl_end(); + return PXC_STATUS_HANDLE_INVALID; + } + + retStatus = g_senseManager->EnableFace(); + if (retStatus != PXC_STATUS_NO_ERROR) { + rs_tracker_impl_end(); + return retStatus; + } + + faceModule = g_senseManager->QueryFace(); + if (faceModule == NULL) { + rs_tracker_impl_end(); + return PXC_STATUS_HANDLE_INVALID; + } + + retStatus = set_face_module_configuration(faceModule); + if (retStatus != PXC_STATUS_NO_ERROR) { + rs_tracker_impl_end(); + return retStatus; + } + + retStatus = g_senseManager->Init(); + if (retStatus != PXC_STATUS_NO_ERROR) { + rs_tracker_impl_end(); + return retStatus; + } + + g_faceData = faceModule->CreateOutput(); + if (g_faceData == NULL) { + rs_tracker_impl_end(); + return PXC_STATUS_HANDLE_INVALID; + } + + return retStatus; } int rs_tracker_impl_get_preview(void* previewImageOut, int width, int height) { - if (width != kPreviewStreamWidth || height != kPreviewStreamHeight) - return PXC_STATUS_PARAM_UNSUPPORTED; + if (width != kPreviewStreamWidth || height != kPreviewStreamHeight) + return PXC_STATUS_PARAM_UNSUPPORTED; - if (g_previewImage == NULL) - return PXC_STATUS_DATA_UNAVAILABLE; + if (g_previewImage == NULL) + return PXC_STATUS_DATA_UNAVAILABLE; - EnterCriticalSection(&g_criticalSection); - if (g_previewImage != NULL) - memcpy(previewImageOut, g_previewImage, kPreviewStreamWidth*kPreviewStreamHeight); - LeaveCriticalSection(&g_criticalSection); + EnterCriticalSection(&g_criticalSection); + if (g_previewImage != NULL) + memcpy(previewImageOut, g_previewImage, kPreviewStreamWidth*kPreviewStreamHeight); + LeaveCriticalSection(&g_criticalSection); - return PXC_STATUS_NO_ERROR; + return PXC_STATUS_NO_ERROR; } int rs_tracker_impl_update_pose(double *data) {//TODO: add bool preview activated. - pxcStatus retStatus = PXC_STATUS_NO_ERROR; - PXCFaceData::PoseEulerAngles angles; - PXCFaceData::HeadPosition headPosition; - PXCFaceData::Face *face = NULL; - PXCFaceData::PoseData *pose = NULL; - bool poseAnglesAvailable = false; - bool headPositionAvailable = false; + pxcStatus retStatus = PXC_STATUS_NO_ERROR; + PXCFaceData::PoseEulerAngles angles; + PXCFaceData::HeadPosition headPosition; + PXCFaceData::Face *face = NULL; + PXCFaceData::PoseData *pose = NULL; + bool poseAnglesAvailable = false; + bool headPositionAvailable = false; - if (g_senseManager != NULL && g_faceData != NULL && g_previewImage != NULL - && (retStatus = g_senseManager->AcquireFrame(true, 30)) == PXC_STATUS_NO_ERROR) { + if (g_senseManager != NULL && g_faceData != NULL && g_previewImage != NULL + && (retStatus = g_senseManager->AcquireFrame(true, 30)) == PXC_STATUS_NO_ERROR) { - retrieve_preview_from_frame(); + retrieve_preview_from_frame(); - retStatus = g_faceData->Update(); - if (retStatus != PXC_STATUS_NO_ERROR) { - rs_tracker_impl_end(); - return retStatus; - } + retStatus = g_faceData->Update(); + if (retStatus != PXC_STATUS_NO_ERROR) { + rs_tracker_impl_end(); + return retStatus; + } - pxcI32 numberOfDetectedFaces = g_faceData->QueryNumberOfDetectedFaces(); - for (int i = 0; i < numberOfDetectedFaces; ++i) { - face = g_faceData->QueryFaceByIndex(i); - if (face == NULL) continue; + pxcI32 numberOfDetectedFaces = g_faceData->QueryNumberOfDetectedFaces(); + for (int i = 0; i < numberOfDetectedFaces; ++i) { + face = g_faceData->QueryFaceByIndex(i); + if (face == NULL) continue; - pose = face->QueryPose(); - if (pose == NULL) continue; + pose = face->QueryPose(); + if (pose == NULL) continue; - poseAnglesAvailable = pose->QueryPoseAngles(&angles); - if (!poseAnglesAvailable) continue; + poseAnglesAvailable = pose->QueryPoseAngles(&angles); + if (!poseAnglesAvailable) continue; - headPositionAvailable = pose->QueryHeadPosition(&headPosition); - if (!headPositionAvailable) continue; + headPositionAvailable = pose->QueryHeadPosition(&headPosition); + if (!headPositionAvailable) continue; - //TODO: use pxcI32 pose->QueryConfidence() ? + //TODO: use pxcI32 pose->QueryConfidence() ? - //x, y, z: cm - data[0] = headPosition.headCenter.x / 10.; - data[1] = headPosition.headCenter.y / 10.; - data[2] = headPosition.headCenter.z / 10.; + //x, y, z: cm + data[0] = headPosition.headCenter.x / 10.; + data[1] = headPosition.headCenter.y / 10.; + data[2] = headPosition.headCenter.z / 10.; - //yaw, pitch, roll: degrees - data[3] = -angles.yaw; - data[4] = angles.pitch; - data[5] = angles.roll; + //yaw, pitch, roll: degrees + data[3] = -angles.yaw; + data[4] = angles.pitch; + data[5] = angles.roll; - break; - } + break; + } - g_senseManager->ReleaseFrame(); - } + g_senseManager->ReleaseFrame(); + } - return retStatus; + return retStatus; } int rs_tracker_impl_end() { - if (g_faceData != NULL) { - g_faceData->Release(); - g_faceData = NULL; - } - - if (g_senseManager != NULL) { - g_senseManager->Release(); - g_senseManager = NULL; - } - - EnterCriticalSection(&g_criticalSection); - free(g_previewImage); - g_previewImage = NULL; - DeleteCriticalSection(&g_criticalSection); - - return PXC_STATUS_NO_ERROR; + if (g_faceData != NULL) { + g_faceData->Release(); + g_faceData = NULL; + } + + if (g_senseManager != NULL) { + g_senseManager->Release(); + g_senseManager = NULL; + } + + EnterCriticalSection(&g_criticalSection); + free(g_previewImage); + g_previewImage = NULL; + DeleteCriticalSection(&g_criticalSection); + + return PXC_STATUS_NO_ERROR; } diff --git a/tracker-rs/rs_impl/udp_sender.cpp b/tracker-rs/rs_impl/udp_sender.cpp deleted file mode 100644 index 095edd8f..00000000 --- a/tracker-rs/rs_impl/udp_sender.cpp +++ /dev/null @@ -1,53 +0,0 @@ -/* - * Copyright (c) 2015, Intel Corporation - * Author: Xavier Hallade - * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies. - * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. - */ - -#include "ftnoir_tracker_rs_impl.h" -#include -#include -#include -#include - -#define UDP_PORT 4242 - -int main(){ - double pose[6] = { 0., 0., 0., 0., 0., 0. }; - struct sockaddr_in socketInfo; - SOCKET s = 0; - WSADATA wsa; - - int retStatus = rs_tracker_impl_start(); - if (retStatus != 0){ - exit(retStatus); - } - - if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) //init winsocketapi - exit(EXIT_FAILURE); - - memset(&socketInfo, 0, sizeof(socketInfo)); - socketInfo.sin_family = AF_INET; - socketInfo.sin_port = htons(UDP_PORT); - InetPton(AF_INET, L"127.0.0.1", &socketInfo.sin_addr.S_un.S_addr); - - if ((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == SOCKET_ERROR) //create UDP socket - exit(EXIT_FAILURE); - - for(;;) { - retStatus = rs_tracker_impl_update_pose(pose); - if(retStatus == 0){ //no error - if (sendto(s, (char*)&pose, sizeof(pose), 0, (struct sockaddr *) &socketInfo, sizeof(socketInfo)) == SOCKET_ERROR) //send new data - exit(EXIT_FAILURE); - } - - if(retStatus != 0 && retStatus != -303)// -303=timeout and 0 are ok, else we've got to stop. - break; - } - - closesocket(s); - WSACleanup(); - - return retStatus; -} -- cgit v1.2.3